Some children positions are off, both when animating and rendering (but not when paused at any frame)
While writing this question I realized the problem.
To have a more correct rotation of the weels when steering left or right, I set the driver to the x position of the tire,
creating a driver to a property of a child (of a child) caused the problem.
Instead I created an empty that is parented to the main steering object with an offset to the center of the wheel, resulting in a more correct rotation and preventing these delays